CN109475384B - 自动插入装置 - Google Patents

自动插入装置 Download PDF

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Publication number
CN109475384B
CN109475384B CN201780045997.4A CN201780045997A CN109475384B CN 109475384 B CN109475384 B CN 109475384B CN 201780045997 A CN201780045997 A CN 201780045997A CN 109475384 B CN109475384 B CN 109475384B
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CN
China
Prior art keywords
piston
platform
coupled
cylinder
robotic device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
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CN201780045997.4A
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English (en)
Chinese (zh)
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CN109475384A (zh
Inventor
奥弗·阿诺德
爱德华·博罗德茨
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Xact Robotics Ltd
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Xact Robotics Ltd
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Publication date
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Publication of CN109475384A publication Critical patent/CN109475384A/zh
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm rests
    • A61M5/178—Syringes
    • A61M5/31—Details
    • A61M5/315—Pistons; Piston-rods; Guiding, blocking or restricting the movement of the rod or piston; Appliances on the rod for facilitating dosing ; Dosing mechanisms
    • A61M5/31501—Means for blocking or restricting the movement of the rod or piston
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm rests
    • A61M5/46—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm rests having means for controlling depth of insertion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Anesthesiology (AREA)
  • Vascular Medicine (AREA)
  • Hematology (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Threshing Machine Elements (AREA)
CN201780045997.4A 2016-05-25 2017-05-25 自动插入装置 Expired - Fee Related CN109475384B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662341097P 2016-05-25 2016-05-25
US62/341,097 2016-05-25
PCT/IL2017/050584 WO2017203531A1 (en) 2016-05-25 2017-05-25 Automated insertion device

Publications (2)

Publication Number Publication Date
CN109475384A CN109475384A (zh) 2019-03-15
CN109475384B true CN109475384B (zh) 2022-02-18

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780045997.4A Expired - Fee Related CN109475384B (zh) 2016-05-25 2017-05-25 自动插入装置

Country Status (7)

Country Link
US (3) US11202684B2 (cg-RX-API-DMAC10.html)
EP (1) EP3463142A4 (cg-RX-API-DMAC10.html)
JP (1) JP7131834B2 (cg-RX-API-DMAC10.html)
CN (1) CN109475384B (cg-RX-API-DMAC10.html)
CA (1) CA3024963A1 (cg-RX-API-DMAC10.html)
IL (1) IL263144B2 (cg-RX-API-DMAC10.html)
WO (1) WO2017203531A1 (cg-RX-API-DMAC10.html)

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US12262972B2 (en) 2017-06-16 2025-04-01 Xact Robotics Ltd. Drape adaptor
IT201800000689A1 (it) * 2018-01-10 2019-07-10 Tecres Spa Struttura di supporto per un dispositivo chirurgico e relativo metodo di posizionamento
WO2019234748A1 (en) * 2018-06-07 2019-12-12 Xact Robotics Ltd Attachment appratus for a body mountable medical device
US11571265B2 (en) 2019-03-22 2023-02-07 Globus Medical Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11419616B2 (en) 2019-03-22 2022-08-23 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11317978B2 (en) 2019-03-22 2022-05-03 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US20200297357A1 (en) 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11806084B2 (en) 2019-03-22 2023-11-07 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
EP3733112A1 (en) * 2019-05-03 2020-11-04 Globus Medical, Inc. System for robotic trajectory guidance for navigated biopsy needle
CN110279470A (zh) * 2019-06-14 2019-09-27 北京罗森博特科技有限公司 动态调节装置、动态调节系统及其使用方法
EP4065014A4 (en) 2019-11-27 2023-04-19 Xact Robotics Ltd. PLANNING AND UPDATING IN REAL TIME OF A 3D TRAJECTORY OF A MEDICAL DEVICE
CN114980835A (zh) 2019-11-30 2022-08-30 赞克特机器人有限公司 用于自动化医疗设备的可调节罩
EP4138715A4 (en) 2020-04-19 2023-10-11 Xact Robotics Ltd. ALGORITHM-BASED METHODS FOR PREDICTING AND/OR DETECTING A CLINICAL CONDITION RELATED TO THE INSERTION OF A MEDICAL INSTRUMENT TOWARDS AN INTERNAL TARGET
CN111643236B (zh) * 2020-06-15 2020-12-29 白延平 一种心脏支架输送释放装置
WO2022034488A1 (en) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Capsulorhexis apparatus and method
US12357376B2 (en) * 2020-11-12 2025-07-15 Board Of Trustees Of The University Of Arkansas Respiratory compensated robot for liver cancer treatment
US12702481B2 (en) 2020-11-29 2026-08-11 Xact Robotics Ltd. Virtual simulator for planning and executing robotic steering of a medical instrument
EP4203829A1 (en) 2021-06-01 2023-07-05 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
US20230076502A1 (en) 2021-08-24 2023-03-09 Hyperion Surgical, Inc. Robotic systems, devices, and methods for vascular access
US11678944B1 (en) 2022-08-23 2023-06-20 Hyperion Surgical, Inc. Manipulators and cartridges for robotic-assisted vascular access
US11903663B2 (en) 2021-08-24 2024-02-20 Hyperion Surgical, Inc. Robotic systems, devices, and methods for vascular access
WO2023062470A1 (en) 2021-10-17 2023-04-20 Forsight Robotics Ltd. One-sided robotic surgical procedure
DE102022106602B4 (de) * 2022-03-21 2024-08-22 Karl Storz Se & Co. Kg Medizinische Kinematik mit virtuellem Drehpunkt, medizinischer Roboter sowie Verwendung einer medizinischen Kinematik und eines medizinischen Roboters
CN115040756B (zh) * 2022-08-16 2022-11-04 生一科技(北京)有限公司 导管支撑装置和管腔介入系统
CN115590589B (zh) * 2022-10-12 2025-11-11 上海交通大学 一种并联六自由度穿刺机器人
CN116269783B (zh) * 2023-03-28 2023-12-19 北京维卓致远医疗科技发展有限责任公司 引导架和手术机器人
CN117338435B (zh) * 2023-12-05 2024-02-06 真健康(广东横琴)医疗科技有限公司 用于机器人穿刺手术的电动末端执行器及穿刺机器人

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CN104323861A (zh) * 2014-11-21 2015-02-04 山东科技大学 三自由度串并混联关节成形手术机器人
CN104739512A (zh) * 2015-02-28 2015-07-01 天津大学 基于ct或mri图像导航的胸腔穿刺手术机器人
US20150366546A1 (en) * 2014-06-18 2015-12-24 Siemens Medical Solutions Usa, Inc. System and method for real-time ultrasound guided prostate needle biopsies using a compliant robotic arm

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Also Published As

Publication number Publication date
US20190290372A1 (en) 2019-09-26
EP3463142A1 (en) 2019-04-10
US20220022983A1 (en) 2022-01-27
CN109475384A (zh) 2019-03-15
CA3024963A1 (en) 2017-11-30
IL263144B2 (en) 2023-04-01
US11202684B2 (en) 2021-12-21
US20230363839A1 (en) 2023-11-16
US11751956B2 (en) 2023-09-12
WO2017203531A1 (en) 2017-11-30
JP7131834B2 (ja) 2022-09-06
IL263144A (en) 2018-12-31
EP3463142A4 (en) 2020-02-26
IL263144B (en) 2022-12-01
JP2019520183A (ja) 2019-07-18

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